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R&D on Robots for the Decommissioning of Fukushima Daiichi NPS
February 3, 2016
Kiyoshi OIKAWA
International Research Institute for Nuclear Decommissioning (IRID)
International Workshop on the Use of Robotic Technologies at Nuclear Facilities
©International Research Institute for Nuclear Decommissioning
Introduction
Scope of business Nuclear decommissioning technology R&D
•Fuel Removal from Spent Fuel Pool •Preparation of Fuel Debris Retrieval •Treatment and Disposal of Radioactive Waste
Promotion of cooperation on nuclear decommissioning with international and domestic organizations
Human resource development
Organization Relationship Diagram
For more information >> http://www.irid.or.jp/en
NDF: Nuclear Damage Compensation and Decommissioning Facilitation Corporation
METI: Ministry of Economy, Trade and Industry
R&D Management
R&D Implementation
METI Decommissioning Policy
“Mid-and-long Term Roadmap”
Strategy Planning R&D Planning & management
Fukushima Daiichi NPS D&D Engineering
TEPCO
Specialization & Cooperation
IRID
NDF
R&D Management •R&D Management •R&D Strategy Planning •Administration
R&D Implementation •Membership:
National R&D Agencies(2) /Manufacturers(4) / Electric Utilities(12)
•Over 700 researchers participate in IRID and engage in the R&D projects at their facilities
IRID is the Technology Research Association to develop technologies required for the decommissioning of the Fukushima Daiichi NPS
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©International Research Institute for Nuclear Decommissioning
Fuel debris
Top Entry Side Entry
Partial submersion method
Fuel debris retrieval procedure
Submersion method
Fuel Debris Retrieval from 2021 Current Technology R&D
Removal of fuel from Spent fuel pool
Decontamination of work area and
walkway
Investigation and stop of water
leakage from PCV
Robot technology is utilized for decontamination in the reactor building, investigation of water leakage from the PCV, investigation of the PCV interior, etc., according to the Mid-and-Long-Term Roadmap indicating the decommissioning procedure of Fukushima Daiichi.
Investigation of PCV interior ・Location and configuration of
fuel debris ・Damage of Pedestal and PCV
Investigation of RPV interior ・Location and configuration of
fuel debris ・Damage of structural material
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©International Research Institute for Nuclear Decommissioning
Development of technology for remotely operated decontamination in reactor buildings
Ground floor of Reactor Building
20
%
Air dose
Decontamination Unit Compressor Unit
20m 40m 100m Work Unit
For High Places For Low Places
For Upper Floors
Suction/blast
High pressure water injection
Dry ice blast
Each unit is lifted up to the upper floor with the Lifter in continuity
70
%
Robots capable of accessing various places such as low places like floors, high places where pipes and trays are located and narrow places, and decontaminating various types of contaminants such as loose contaminants like dusts and fixed contaminants that penetrate into and fixate on concrete .
Suction/ Dry ice blast High pressure
water injection
Expand
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©International Research Institute for Nuclear Decommissioning
Development of technology to identify leakage points in the PCV
VT-ROV
Tracer Reflection
Reflection
Tracer injection
Sonar
① Upper part of S/C survey equipment
② Exterior surface survey equipment for Vent Pipe
③ Exterior surface survey equipment for lower part of S/C
SC-ROV
To search a hole (>30mm) on the S/C surface under water
To search a water leakage on the junction of the Vent pipe and the PCV
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①
② ③ ④
Details of portion to be investigated of lower PCV
Equipment to investigate water leakage from the PCV etc., which is designed to be adaptable to various environments , including elevated locations, high radiation dose areas, narrow spaces, and underwater areas
④ Wall penetration survey equipment of torus room
Floor traveling robot Swimming robot Water leakage
Camera
Vacuum break line
S/C
Survey Runner
3.8m
0.8m
©International Research Institute for Nuclear Decommissioning
Development of technology for investigation of the PCV interior Robots capable of going through a 100 mm-diameter guide pipe and moving around a wide area in the PCV and having a radiation resistance strong enough to capture images and measure temperatures, radiation doses, under high radiation doses, in dark or vapor atmospheres
Shape changing
Moving within pipes
Moving along flat surfaces
Shape-changing crawler (Unit 1) Small size crawler (Unit 2)
Camera Camera & Light
Crawler Dosimeter
Thermometer
Coming in the inside of the pedestal via CRD rail
【Unit 1】 X-100B penetration (φ115mm)
CRD rail
【Unit 2】 X-6 penetration
Camera
Crawler
Camera & Light
Rise Up mechanism
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©International Research Institute for Nuclear Decommissioning
Utilization of 3D data on the reactor building interior (Decontamination)
Slope to step over the auxiliary pipes and wiring
Overhead rail
②Dogleg passage in narrow place
A
B B A
A B
①Narrowest place ③Target area of decontamination Integration test at mock-up facilities
3D data of the reactor building captured through laser scanning is utilized to study methods to approach high and narrow places to be decontaminated and to design the mockup facility simulating the structural condition and arrangement of each Unit.
Winding reel
・High pressure water ・Control panel
・Vacuum pump ・HEPA filter ・Collect tank ・Water pressure ・Air compressor
High pressure water injection platform truck
3D Model on CAD
Designing Mock up facility
Pipes
Fence
② ③ ①
Traveling route from outside of Unit 1 to the target area of decontamination
3D scanned data of Unit 1
7
780mm
16
70
mm
©International Research Institute for Nuclear Decommissioning
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Evaluation of robot performance (Decontamination)
Robot that meets specified requirements not only for decontamination performance but also for remote control , linkage with other system components and safety performance
Evaluation Item Target
Decontamination performance
Remote control performance
Water suction port
High pressure water injection head
Camera Camera
Line laser
Line laser
Camera Outrigger
Crawler Flipper
High pressure water injection head
Safety performance
Decontamination work
Work area 3mSv/h, Travel pass 5mSv/h • to remove 80% contaminated material • to collect injected water on the floor < 1mm water level @ flat floor < 10mm water level @ hollow place
• to access to 8m high place and operate the decontamination work
• to move the machine dragging a long harness behind through the narrow passage in the mock up facilities
• to avoid falling down during the decontamination work @ 8m high place
• to make emergency stop on abnormal condition • to draw the machine back using traction tool on emergency stop state
Travelling
Relief mechanism of crawler and outrigger
Front Side (right-hand) Rear
Camera
max
61
05
mm
Light
Range finder
Air blow
Water injection nozzle
©International Research Institute for Nuclear Decommissioning
Reliability improvement through testing (Investigation of the PCV interior)
To develop a highly reliable robot, it is vital to repeatedly examine robots under environments that simulates the PCV.
Difficulty in grasping site situation though remote control operation
LED Light with Condenser
Rear Camera with Pan/Tilt mechanism
Rise Up mechanism
Front Camera with Tilt mechanism
Dark and foggy circumstance
Roll over
Out of control
•Self-righting using the rise up mechanism
•Cable delivery system has the cable cutoff mechanism
• LED light with condenser and distant from the camera
Points of improvement
Old model
New model
•Rear camera gives wide area view with Pan/Tilt mechanism
•Two cameras give a good visual field, overlooking picture around of the robot and close up picture in front of the robot
• Image processing
Transparency 100% Transparency 20%
Image processing
Improved points at postulated severe situation in the PCV Visibility test in water vapor
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©International Research Institute for Nuclear Decommissioning
Development of a step-by-step investigation (Investigation of the PCV interior)
Since the situation inside the PCV is not much known, we have divided the investigation of the fuel debris in the PCV into several steps in order to reflect results from the current investigation step to the next step.
Steps for the PCV interior investigation
Water injection
Vent
Pan/Tilt Camera &Light
PCV penetration (X-6)
① CRD rail
① CRD rail condition (2014)
② Platform condition (on-going)
③ CRD bottom area condition (from FY2016)
④ Pedestal basement condition (from FY2017)
CRD: Control Rod Drive
Refine the Procedure and method of the Fuel Debris Retrieval
③ CRD bottom area
② Platform
④ Pedestal basement
Camera on foldable and expandable pole
Deposit removing robot
Investigation robot
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©International Research Institute for Nuclear Decommissioning
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Robot
End of guide pipe
X6 Penetration
Robot inside
Cable delivery drum
Robot
Technology for preventing radioactive material diffusion (Investigation of the PCV interior)
Before putting the robot into the PCV, we must build a boundary to avoid an opening of the PCV from diffusing radioactive materials .
Shape-changing crawler (Unit 1) Small size crawler (Unit 2)
Guide pipe
Radioactive material diffusion preventing device (Chamber)
©International Research Institute for Nuclear Decommissioning
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Radioactive resistant performance The requirement for radioactive resistance of each robot is specified, according to a dose rate of a place where the robot works.
General purpose Investigation of Inside PCV
Dose tolerance test (Cobalt 60) Component parts Dose tolerance
Laser range finder 124Gy(Sv)
CCD camera 169Gy(Sv)
CPU module, Battery, Motor driver, Radio Tx/Rx, LAN HUB, etc…
> 200Gy(Sv)
• “Guideline on Rad-Hardness Estimation and Management for Robotics, Unmanned Construction Machine and others” 2011.4.27 (Original document is Japanese)
• "Radiation resistance and decontamination of robots in the field of atomic energy"
IEEE Telerobotics Summer School 2013 , Shinji Kawatsuma, Japan Atomic Energy Agency, Japan
Management guideline • Unmanned heavy machine 20Sv total dose • Portable field robot 30Sv total dose
Dose rate map in the Unit 1 (measured 2012 ~ 2013)
1.9 1.2
3.0 2.0
2.5
4.5
4.5
8.0 3.0
22.0
3.5 7.0 3.5
7.0 3.5 4.0
3.5 3.5 4.5
3.5 5.0
4.0 100
230
Floor 2100
X49 MAX800
X40B
MAX 23
15
48 26
127
290 800 1820 290 138 600
1280 1100 220 300
Floor 4700 2200
60
90 120
40 95 54 247
5.0
6.5 7.0 8.0 15 20
6.0
7.5 7.0
7.0 4.5
6.5
5.0 5.0
6.0
11.4 Upper 100 Upper
50
1.5
9.0
20
Upper 1700
1200
< 3mSv/h 3mSv/h ~ 10mSv/h 10mSv/h ~ 20mSv/h
20mSv/h ~ 50mSv/h > 50mSv/h
Fuel debris retrieval
100Gy/h 1000Gy total dose
10kGy/h 2MGy total dose
Decontamination
Investigation of leak of PCV
4Sv/h~10Sv/h 200Sv total dose
3Sv/h~20Sv/h 1000Sv ~2000Sv total dose
Camera
CPU module, Battery, Motor driver
Laser Range Finder
Sensors for measurement
Field robot “Quince”
Requirements
Requirements
Requirements
Requirements
©International Research Institute for Nuclear Decommissioning
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Study of fuel debris retrieval method We will study multiple method for fuel debris retrieval to meet different condition of damaged PCV and scattering fuel debris at each unit
Work platform
Wire
Hydraulic manipulator
PCV head
RPV head
Steam dryer Steam
separator
Fuel debris Access rail
Hydraulic manipulator
Partial submersion method (In-air work) Submersion method
Most favorable approach for minimizing the radioactive exposure of workers
When fuel debris spreads over pedestal outskirts, the side entry method is to be selected
Top entry Side entry
Development of technology which prevents scattering radioactive materials from PCV is needed to remove PCV contents in-air work
Sealing a PCV head (1:4 scale) with Radioactive material diffusion preventing film
Thank you for your attention